Patanjali II.16 [heyam duhkham anaagatam] invites us to employ discernment and clear-seeing in the present order to avoid suffering which has not yet occurred. Here is an interpretation of the verse from Sri TKV Desikachar:
The ultimate goal of yoga is to always observe things accurately, and therefore never act in a way that will make us regret our actions later.
Come to your practice [on the mat and in life] with curiosity, clarity and compassion so you can find your way to centre and skilfulness